revise
Dependencies: HCSR04 PID PololuQik2 QEI mbed-rtos Sharp
main.cpp@7:78745a518957, 2014-03-21 (annotated)
- Committer:
- Fairy_Paolina
- Date:
- Fri Mar 21 22:19:51 2014 +0000
- Revision:
- 7:78745a518957
- Parent:
- 6:f5c26372b2d0
- Child:
- 8:11ef93eebe07
revise;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Fairy_Paolina | 0:ff94cc47fef7 | 1 | #include "rtos.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 2 | #include "PID.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 3 | #include "PololuQik2.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 4 | #include "QEI.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 5 | #include "mbed.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 6 | #include "HCSR04.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 7 | #include "stdio.h" |
Fairy_Paolina | 0:ff94cc47fef7 | 8 | #include "LPC17xx.h" |
Fairy_Paolina | 5:70ccef3734ae | 9 | |
Fairy_Paolina | 2:3d0be48abcf2 | 10 | #define PIN_TRIGGERL (p12) |
Fairy_Paolina | 2:3d0be48abcf2 | 11 | #define PIN_ECHOL (p11) |
Fairy_Paolina | 2:3d0be48abcf2 | 12 | #define PIN_TRIGGERR (p29) |
Fairy_Paolina | 2:3d0be48abcf2 | 13 | #define PIN_ECHOR (p30) |
Fairy_Paolina | 0:ff94cc47fef7 | 14 | #define PULSE_PER_REV (1192) |
Fairy_Paolina | 0:ff94cc47fef7 | 15 | #define WHEEL_CIRCUM (12.56637) |
Fairy_Paolina | 0:ff94cc47fef7 | 16 | #define DIST_PER_PULSE (0.01054225722682) |
Fairy_Paolina | 0:ff94cc47fef7 | 17 | #define MTRS_TO_INCH (39.3701) |
Fairy_Paolina | 1:801f0b9a862a | 18 | #define MAX_SPEED (0.3*127) |
Fairy_Paolina | 4:f2333e66ec2c | 19 | #define PPR (4331/4) |
Fairy_Paolina | 2:3d0be48abcf2 | 20 | #define LEFT (1) |
Fairy_Paolina | 2:3d0be48abcf2 | 21 | #define RIGHT (0) |
Fairy_Paolina | 3:58726d2e11f0 | 22 | #define FORWARD (1) |
Fairy_Paolina | 3:58726d2e11f0 | 23 | #define BACKWARD (0) |
Fairy_Paolina | 3:58726d2e11f0 | 24 | #define TOOLS (0) |
Fairy_Paolina | 3:58726d2e11f0 | 25 | #define MID (1) |
Fairy_Paolina | 6:f5c26372b2d0 | 26 | #define FIRST_WAVE (0) |
Fairy_Paolina | 6:f5c26372b2d0 | 27 | #define FAR (1) |
Fairy_Paolina | 6:f5c26372b2d0 | 28 | |
Fairy_Paolina | 5:70ccef3734ae | 29 | |
Fairy_Paolina | 0:ff94cc47fef7 | 30 | float range, pid_return; |
Fairy_Paolina | 0:ff94cc47fef7 | 31 | void errFunction(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 32 | bool cRc; |
Fairy_Paolina | 5:70ccef3734ae | 33 | |
Fairy_Paolina | 0:ff94cc47fef7 | 34 | //Hardware Initialization |
Fairy_Paolina | 0:ff94cc47fef7 | 35 | Serial bt(p13,p14); |
Fairy_Paolina | 0:ff94cc47fef7 | 36 | Serial pc(USBTX,USBRX); |
Fairy_Paolina | 2:3d0be48abcf2 | 37 | HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL ); |
Fairy_Paolina | 2:3d0be48abcf2 | 38 | HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR ); |
Fairy_Paolina | 2:3d0be48abcf2 | 39 | PID pid1(15.0,0.0,4.0,0.02); |
Fairy_Paolina | 0:ff94cc47fef7 | 40 | PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc); |
Fairy_Paolina | 4:f2333e66ec2c | 41 | QEI rightEncoder(p17,p18,NC,PPR,QEI::X4_ENCODING); |
Fairy_Paolina | 4:f2333e66ec2c | 42 | QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING); |
Fairy_Paolina | 1:801f0b9a862a | 43 | //InterruptIn encoder(p29); |
Fairy_Paolina | 5:70ccef3734ae | 44 | |
Fairy_Paolina | 5:70ccef3734ae | 45 | |
Fairy_Paolina | 0:ff94cc47fef7 | 46 | //Functions |
Fairy_Paolina | 5:70ccef3734ae | 47 | |
Fairy_Paolina | 3:58726d2e11f0 | 48 | float wall_follow(int side, int direction, int section); |
Fairy_Paolina | 6:f5c26372b2d0 | 49 | void wall_follow2(int side, int direction, int section, float location); |
Fairy_Paolina | 0:ff94cc47fef7 | 50 | void wall_follow3(int ¤tLocation, int &WaveOpening); |
Fairy_Paolina | 1:801f0b9a862a | 51 | void leftTurn(void); |
Fairy_Paolina | 1:801f0b9a862a | 52 | void rightTurn(void); |
Fairy_Paolina | 0:ff94cc47fef7 | 53 | void us_distance(void); |
Fairy_Paolina | 3:58726d2e11f0 | 54 | void tools_section(float* location, float ¤t); |
Fairy_Paolina | 6:f5c26372b2d0 | 55 | void mid_section(float* location, float ¤t, int* direction); |
Fairy_Paolina | 6:f5c26372b2d0 | 56 | void mid_section2(float* location, float ¤t, int* direction); |
Fairy_Paolina | 6:f5c26372b2d0 | 57 | void rig_section(float* location, float ¤t, int* direction, int rig); |
Fairy_Paolina | 6:f5c26372b2d0 | 58 | void overBump(int wave); |
Fairy_Paolina | 6:f5c26372b2d0 | 59 | void alignWithWall(int section); |
Fairy_Paolina | 5:70ccef3734ae | 60 | |
Fairy_Paolina | 1:801f0b9a862a | 61 | //Variables |
Fairy_Paolina | 5:70ccef3734ae | 62 | |
Fairy_Paolina | 2:3d0be48abcf2 | 63 | int main(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 64 | { |
Fairy_Paolina | 3:58726d2e11f0 | 65 | float location[3], current=0; |
Fairy_Paolina | 3:58726d2e11f0 | 66 | int direction[3]; |
Fairy_Paolina | 5:70ccef3734ae | 67 | |
Fairy_Paolina | 0:ff94cc47fef7 | 68 | pc.baud(115200); |
Fairy_Paolina | 1:801f0b9a862a | 69 | bt.baud(115200); |
Fairy_Paolina | 2:3d0be48abcf2 | 70 | motors.begin(); |
Fairy_Paolina | 2:3d0be48abcf2 | 71 | |
Fairy_Paolina | 7:78745a518957 | 72 | bt.printf("START\r\n"); |
Fairy_Paolina | 3:58726d2e11f0 | 73 | //Go to tools |
Fairy_Paolina | 4:f2333e66ec2c | 74 | tools_section(location, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 75 | mid_section(location, current, direction); |
Fairy_Paolina | 6:f5c26372b2d0 | 76 | mid_section2(location, current, direction); |
Fairy_Paolina | 5:70ccef3734ae | 77 | |
Fairy_Paolina | 5:70ccef3734ae | 78 | |
Fairy_Paolina | 5:70ccef3734ae | 79 | |
Fairy_Paolina | 0:ff94cc47fef7 | 80 | } |
Fairy_Paolina | 5:70ccef3734ae | 81 | |
Fairy_Paolina | 2:3d0be48abcf2 | 82 | void errFunction(void) |
Fairy_Paolina | 2:3d0be48abcf2 | 83 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 84 | //Nothing |
Fairy_Paolina | 0:ff94cc47fef7 | 85 | } |
Fairy_Paolina | 5:70ccef3734ae | 86 | |
Fairy_Paolina | 0:ff94cc47fef7 | 87 | void us_distance(void) |
Fairy_Paolina | 0:ff94cc47fef7 | 88 | { |
Fairy_Paolina | 2:3d0be48abcf2 | 89 | pc.printf("Ultra Sonic\n\r"); |
Fairy_Paolina | 2:3d0be48abcf2 | 90 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 91 | wait_us(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 92 | if ( (rangeFinderLeft.getMeas(range) == RANGE_MEAS_VALID)) { |
Fairy_Paolina | 2:3d0be48abcf2 | 93 | pc.printf("Range = %f\n\r", range); |
Fairy_Paolina | 2:3d0be48abcf2 | 94 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 95 | } |
Fairy_Paolina | 5:70ccef3734ae | 96 | |
Fairy_Paolina | 3:58726d2e11f0 | 97 | float wall_follow(int side, int direction, int section) |
Fairy_Paolina | 0:ff94cc47fef7 | 98 | { |
Fairy_Paolina | 6:f5c26372b2d0 | 99 | float location, wavegap=0, set=4; |
Fairy_Paolina | 5:70ccef3734ae | 100 | int dir=1; |
Fairy_Paolina | 3:58726d2e11f0 | 101 | |
Fairy_Paolina | 4:f2333e66ec2c | 102 | pid1.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 103 | |
Fairy_Paolina | 3:58726d2e11f0 | 104 | if(direction == BACKWARD) dir=-1; |
Fairy_Paolina | 5:70ccef3734ae | 105 | if(section == TOOLS)set= 10; |
Fairy_Paolina | 3:58726d2e11f0 | 106 | |
Fairy_Paolina | 3:58726d2e11f0 | 107 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 108 | rightEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 109 | |
Fairy_Paolina | 4:f2333e66ec2c | 110 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 111 | |
Fairy_Paolina | 6:f5c26372b2d0 | 112 | while(location< 78) { |
Fairy_Paolina | 4:f2333e66ec2c | 113 | location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 3:58726d2e11f0 | 114 | |
Fairy_Paolina | 3:58726d2e11f0 | 115 | pid1.setInputLimits(0, set); |
Fairy_Paolina | 1:801f0b9a862a | 116 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 3:58726d2e11f0 | 117 | pid1.setSetPoint(set); |
Fairy_Paolina | 2:3d0be48abcf2 | 118 | if(side){ |
Fairy_Paolina | 2:3d0be48abcf2 | 119 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 120 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 121 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 122 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 123 | else{ |
Fairy_Paolina | 2:3d0be48abcf2 | 124 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 125 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 126 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 127 | pc.printf("%d\r\n",range); |
Fairy_Paolina | 2:3d0be48abcf2 | 128 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 129 | |
Fairy_Paolina | 3:58726d2e11f0 | 130 | if(range > 20) { |
Fairy_Paolina | 4:f2333e66ec2c | 131 | wavegap=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 7:78745a518957 | 132 | //bt.printf("wavegap %f\r\n",wavegap); |
Fairy_Paolina | 3:58726d2e11f0 | 133 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 6:f5c26372b2d0 | 134 | motors.setMotor1Speed(dir*0.3*127);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 135 | motors.setMotor0Speed(dir*0.3*127);//right |
Fairy_Paolina | 3:58726d2e11f0 | 136 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 137 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 138 | |
Fairy_Paolina | 6:f5c26372b2d0 | 139 | pid1.setProcessValue(range); |
Fairy_Paolina | 6:f5c26372b2d0 | 140 | pid_return = pid1.compute(); |
Fairy_Paolina | 5:70ccef3734ae | 141 | |
Fairy_Paolina | 6:f5c26372b2d0 | 142 | if(pid_return > 0) { |
Fairy_Paolina | 6:f5c26372b2d0 | 143 | if(side){ |
Fairy_Paolina | 6:f5c26372b2d0 | 144 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 145 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 146 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 147 | else{ |
Fairy_Paolina | 6:f5c26372b2d0 | 148 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 149 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 150 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 151 | }else if(pid_return < 0) { |
Fairy_Paolina | 6:f5c26372b2d0 | 152 | if(side){ |
Fairy_Paolina | 6:f5c26372b2d0 | 153 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 154 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 155 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 156 | else{ |
Fairy_Paolina | 6:f5c26372b2d0 | 157 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 158 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
Fairy_Paolina | 6:f5c26372b2d0 | 159 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 160 | }else { |
Fairy_Paolina | 6:f5c26372b2d0 | 161 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 162 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 163 | } |
Fairy_Paolina | 0:ff94cc47fef7 | 164 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 165 | } |
Fairy_Paolina | 3:58726d2e11f0 | 166 | return wavegap; |
Fairy_Paolina | 0:ff94cc47fef7 | 167 | } |
Fairy_Paolina | 5:70ccef3734ae | 168 | |
Fairy_Paolina | 0:ff94cc47fef7 | 169 | /* MODIFIED WALL_FOLLOW FOR NAVIGATION */ |
Fairy_Paolina | 5:70ccef3734ae | 170 | |
Fairy_Paolina | 6:f5c26372b2d0 | 171 | void wall_follow2(int side, int direction, int section, float location) |
Fairy_Paolina | 0:ff94cc47fef7 | 172 | { |
Fairy_Paolina | 5:70ccef3734ae | 173 | int SeeWaveGap = false, dir=1; |
Fairy_Paolina | 7:78745a518957 | 174 | float set=4, loc=0; |
Fairy_Paolina | 4:f2333e66ec2c | 175 | |
Fairy_Paolina | 4:f2333e66ec2c | 176 | pid1.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 177 | |
Fairy_Paolina | 3:58726d2e11f0 | 178 | if(direction == BACKWARD) dir=-1; |
Fairy_Paolina | 6:f5c26372b2d0 | 179 | if(section == TOOLS)set= 5; |
Fairy_Paolina | 3:58726d2e11f0 | 180 | |
Fairy_Paolina | 3:58726d2e11f0 | 181 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 182 | rightEncoder.reset(); |
Fairy_Paolina | 7:78745a518957 | 183 | |
Fairy_Paolina | 7:78745a518957 | 184 | while(loc + location < 80) { |
Fairy_Paolina | 7:78745a518957 | 185 | loc=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 6:f5c26372b2d0 | 186 | |
Fairy_Paolina | 5:70ccef3734ae | 187 | pid1.setInputLimits(0.0, set); |
Fairy_Paolina | 1:801f0b9a862a | 188 | pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED); |
Fairy_Paolina | 5:70ccef3734ae | 189 | pid1.setSetPoint(set); |
Fairy_Paolina | 5:70ccef3734ae | 190 | |
Fairy_Paolina | 2:3d0be48abcf2 | 191 | if(side){ |
Fairy_Paolina | 2:3d0be48abcf2 | 192 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 193 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 194 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 195 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 196 | else{ |
Fairy_Paolina | 2:3d0be48abcf2 | 197 | rangeFinderRight.startMeas(); |
Fairy_Paolina | 2:3d0be48abcf2 | 198 | wait_ms(20); |
Fairy_Paolina | 2:3d0be48abcf2 | 199 | rangeFinderRight.getMeas(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 200 | } |
Fairy_Paolina | 5:70ccef3734ae | 201 | |
Fairy_Paolina | 5:70ccef3734ae | 202 | |
Fairy_Paolina | 0:ff94cc47fef7 | 203 | /*************CHECK FOR WAVE OPENING*****************/ |
Fairy_Paolina | 3:58726d2e11f0 | 204 | /* If after 20 ms the ultrasonic still sees 20+ cm */ |
Fairy_Paolina | 0:ff94cc47fef7 | 205 | /* then robot is at wave opening */ |
Fairy_Paolina | 5:70ccef3734ae | 206 | |
Fairy_Paolina | 1:801f0b9a862a | 207 | pc.printf("range %f\r\n",range); |
Fairy_Paolina | 2:3d0be48abcf2 | 208 | if(range > 20) { |
Fairy_Paolina | 2:3d0be48abcf2 | 209 | motors.stopBothMotors(); |
Fairy_Paolina | 2:3d0be48abcf2 | 210 | bt.printf("wavegap\r\n"); |
Fairy_Paolina | 2:3d0be48abcf2 | 211 | // AT WAVE OPENING!!!! |
Fairy_Paolina | 2:3d0be48abcf2 | 212 | break; |
Fairy_Paolina | 0:ff94cc47fef7 | 213 | } |
Fairy_Paolina | 5:70ccef3734ae | 214 | |
Fairy_Paolina | 0:ff94cc47fef7 | 215 | pid1.setProcessValue(range); |
Fairy_Paolina | 2:3d0be48abcf2 | 216 | pid_return = pid1.compute(); |
Fairy_Paolina | 2:3d0be48abcf2 | 217 | //bt.printf("Range: %f\n PID: %f\r\n", range, pid_return); |
Fairy_Paolina | 5:70ccef3734ae | 218 | |
Fairy_Paolina | 2:3d0be48abcf2 | 219 | if(pid_return > 0) { |
Fairy_Paolina | 2:3d0be48abcf2 | 220 | if(side){ |
Fairy_Paolina | 3:58726d2e11f0 | 221 | motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right |
Fairy_Paolina | 3:58726d2e11f0 | 222 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 223 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 224 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 225 | motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left |
Fairy_Paolina | 3:58726d2e11f0 | 226 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 227 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 228 | }else if(pid_return < 0) { |
Fairy_Paolina | 2:3d0be48abcf2 | 229 | if(side){ |
Fairy_Paolina | 3:58726d2e11f0 | 230 | motors.setMotor0Speed(dir*MAX_SPEED);//right |
Fairy_Paolina | 3:58726d2e11f0 | 231 | motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left |
Fairy_Paolina | 2:3d0be48abcf2 | 232 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 233 | else{ |
Fairy_Paolina | 3:58726d2e11f0 | 234 | motors.setMotor1Speed(dir*MAX_SPEED);//left |
Fairy_Paolina | 3:58726d2e11f0 | 235 | motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right |
Fairy_Paolina | 2:3d0be48abcf2 | 236 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 237 | } else { |
Fairy_Paolina | 3:58726d2e11f0 | 238 | motors.setMotor0Speed(dir*MAX_SPEED); |
Fairy_Paolina | 3:58726d2e11f0 | 239 | motors.setMotor1Speed(dir*MAX_SPEED); |
Fairy_Paolina | 0:ff94cc47fef7 | 240 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 241 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 242 | motors.stopBothMotors(); |
Fairy_Paolina | 0:ff94cc47fef7 | 243 | } |
Fairy_Paolina | 5:70ccef3734ae | 244 | |
Fairy_Paolina | 5:70ccef3734ae | 245 | |
Fairy_Paolina | 6:f5c26372b2d0 | 246 | void alignWithWall(int section){ |
Fairy_Paolina | 6:f5c26372b2d0 | 247 | float usValue = 0; |
Fairy_Paolina | 6:f5c26372b2d0 | 248 | |
Fairy_Paolina | 6:f5c26372b2d0 | 249 | if(section == TOOLS){ |
Fairy_Paolina | 6:f5c26372b2d0 | 250 | // turn at an angle |
Fairy_Paolina | 6:f5c26372b2d0 | 251 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 252 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 253 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 254 | motors.setMotor1Speed(0.4*MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 255 | while(rightEncoder.getPulses()>-1000); |
Fairy_Paolina | 6:f5c26372b2d0 | 256 | motors.stopBothMotors(); |
Fairy_Paolina | 6:f5c26372b2d0 | 257 | |
Fairy_Paolina | 6:f5c26372b2d0 | 258 | //go backwards toward wall |
Fairy_Paolina | 6:f5c26372b2d0 | 259 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 260 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 261 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 262 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 7:78745a518957 | 263 | while(abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300); |
Fairy_Paolina | 6:f5c26372b2d0 | 264 | |
Fairy_Paolina | 6:f5c26372b2d0 | 265 | motors.stopBothMotors(); |
Fairy_Paolina | 6:f5c26372b2d0 | 266 | |
Fairy_Paolina | 6:f5c26372b2d0 | 267 | // turn left towards wall |
Fairy_Paolina | 6:f5c26372b2d0 | 268 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 269 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 270 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 271 | motors.setMotor1Speed(-MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 272 | while(rightEncoder.getPulses() < 100); |
Fairy_Paolina | 6:f5c26372b2d0 | 273 | |
Fairy_Paolina | 6:f5c26372b2d0 | 274 | motors.stopBothMotors(); |
Fairy_Paolina | 7:78745a518957 | 275 | |
Fairy_Paolina | 7:78745a518957 | 276 | motors.setMotor0Speed(0.7*MAX_SPEED); //right |
Fairy_Paolina | 7:78745a518957 | 277 | motors.setMotor1Speed(-0.7*MAX_SPEED); //left |
Fairy_Paolina | 7:78745a518957 | 278 | } else { |
Fairy_Paolina | 7:78745a518957 | 279 | // turn right towards wall |
Fairy_Paolina | 6:f5c26372b2d0 | 280 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 281 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 282 | motors.setMotor0Speed(-MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 283 | motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 7:78745a518957 | 284 | while(abs(rightEncoder.getPulses()) < 100); |
Fairy_Paolina | 7:78745a518957 | 285 | |
Fairy_Paolina | 6:f5c26372b2d0 | 286 | motors.stopBothMotors(); |
Fairy_Paolina | 7:78745a518957 | 287 | |
Fairy_Paolina | 7:78745a518957 | 288 | motors.setMotor0Speed(-0.7*MAX_SPEED); //right |
Fairy_Paolina | 7:78745a518957 | 289 | motors.setMotor1Speed(0.7*MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 290 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 291 | |
Fairy_Paolina | 6:f5c26372b2d0 | 292 | usValue = 0; |
Fairy_Paolina | 6:f5c26372b2d0 | 293 | while(1){ |
Fairy_Paolina | 2:3d0be48abcf2 | 294 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 6:f5c26372b2d0 | 295 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 296 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 7:78745a518957 | 297 | //bt.printf("Range %f \t OldValue %f\n\r",range, usValue); |
Fairy_Paolina | 6:f5c26372b2d0 | 298 | if(range > usValue && usValue != 0 && range < 25){ |
Fairy_Paolina | 0:ff94cc47fef7 | 299 | break; |
Fairy_Paolina | 2:3d0be48abcf2 | 300 | } else { |
Fairy_Paolina | 6:f5c26372b2d0 | 301 | usValue = range; |
Fairy_Paolina | 0:ff94cc47fef7 | 302 | } |
Fairy_Paolina | 2:3d0be48abcf2 | 303 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 304 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 305 | } |
Fairy_Paolina | 5:70ccef3734ae | 306 | |
Fairy_Paolina | 1:801f0b9a862a | 307 | void rightTurn(void) |
Fairy_Paolina | 1:801f0b9a862a | 308 | { |
Fairy_Paolina | 1:801f0b9a862a | 309 | leftEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 310 | rightEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 311 | motors.setMotor0Speed(-0.4*127);//right |
Fairy_Paolina | 5:70ccef3734ae | 312 | motors.setMotor1Speed(0.4*127);//left |
Fairy_Paolina | 6:f5c26372b2d0 | 313 | while(leftEncoder.getPulses()<1000 || rightEncoder.getPulses()>-1000); |
Fairy_Paolina | 1:801f0b9a862a | 314 | motors.stopBothMotors(); |
Fairy_Paolina | 1:801f0b9a862a | 315 | } |
Fairy_Paolina | 5:70ccef3734ae | 316 | |
Fairy_Paolina | 1:801f0b9a862a | 317 | void leftTurn(void) |
Fairy_Paolina | 5:70ccef3734ae | 318 | { |
Fairy_Paolina | 1:801f0b9a862a | 319 | leftEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 320 | rightEncoder.reset(); |
Fairy_Paolina | 2:3d0be48abcf2 | 321 | motors.setMotor0Speed(0.4*127);// right |
Fairy_Paolina | 2:3d0be48abcf2 | 322 | motors.setMotor1Speed(-0.4*127);// left |
Fairy_Paolina | 6:f5c26372b2d0 | 323 | while(abs(leftEncoder.getPulses())<1075 || rightEncoder.getPulses()<1075); |
Fairy_Paolina | 5:70ccef3734ae | 324 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 325 | } |
Fairy_Paolina | 5:70ccef3734ae | 326 | |
Fairy_Paolina | 3:58726d2e11f0 | 327 | |
Fairy_Paolina | 6:f5c26372b2d0 | 328 | void overBump(int wave){ |
Fairy_Paolina | 6:f5c26372b2d0 | 329 | int preLeft=5000, preRight=5000 ; |
Fairy_Paolina | 3:58726d2e11f0 | 330 | |
Fairy_Paolina | 3:58726d2e11f0 | 331 | leftEncoder.reset(); |
Fairy_Paolina | 3:58726d2e11f0 | 332 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 333 | motors.setMotor0Speed(0.15*127); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 334 | motors.setMotor1Speed(0.15*127); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 335 | while((abs(leftEncoder.getPulses()) < 700 || abs(rightEncoder.getPulses())< 700) && preLeft!=0){ |
Fairy_Paolina | 6:f5c26372b2d0 | 336 | preLeft=leftEncoder.getPulses(); |
Fairy_Paolina | 6:f5c26372b2d0 | 337 | preRight=rightEncoder.getPulses(); |
Fairy_Paolina | 6:f5c26372b2d0 | 338 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 339 | if(leftEncoder.getPulses() == preLeft && rightEncoder.getPulses()== preRight) preLeft=preRight=0; |
Fairy_Paolina | 6:f5c26372b2d0 | 340 | } |
Fairy_Paolina | 4:f2333e66ec2c | 341 | |
Fairy_Paolina | 6:f5c26372b2d0 | 342 | if(wave == FAR){ |
Fairy_Paolina | 6:f5c26372b2d0 | 343 | while(leftEncoder.getPulses() != preLeft && rightEncoder.getPulses()!= preRight){ |
Fairy_Paolina | 6:f5c26372b2d0 | 344 | preLeft=leftEncoder.getPulses(); |
Fairy_Paolina | 6:f5c26372b2d0 | 345 | preRight=rightEncoder.getPulses(); |
Fairy_Paolina | 6:f5c26372b2d0 | 346 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 347 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 348 | |
Fairy_Paolina | 6:f5c26372b2d0 | 349 | motors.stopBothMotors(); |
Fairy_Paolina | 6:f5c26372b2d0 | 350 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 351 | |
Fairy_Paolina | 4:f2333e66ec2c | 352 | leftEncoder.reset(); |
Fairy_Paolina | 4:f2333e66ec2c | 353 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 354 | motors.setMotor0Speed(0.4*127); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 355 | motors.setMotor1Speed(0.4*127); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 356 | while(abs(leftEncoder.getPulses()) < 200 || abs(rightEncoder.getPulses()) < 200); |
Fairy_Paolina | 6:f5c26372b2d0 | 357 | |
Fairy_Paolina | 3:58726d2e11f0 | 358 | motors.stopBothMotors(); |
Fairy_Paolina | 3:58726d2e11f0 | 359 | } |
Fairy_Paolina | 5:70ccef3734ae | 360 | |
Fairy_Paolina | 3:58726d2e11f0 | 361 | void tools_section(float* location, float ¤t){ |
Fairy_Paolina | 3:58726d2e11f0 | 362 | |
Fairy_Paolina | 6:f5c26372b2d0 | 363 | wall_follow(LEFT,FORWARD, TOOLS); |
Fairy_Paolina | 6:f5c26372b2d0 | 364 | // current position in reference to the starting position |
Fairy_Paolina | 4:f2333e66ec2c | 365 | current=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2; |
Fairy_Paolina | 6:f5c26372b2d0 | 366 | bt.printf("current %f \r\n",current); |
Fairy_Paolina | 3:58726d2e11f0 | 367 | |
Fairy_Paolina | 5:70ccef3734ae | 368 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 369 | |
Fairy_Paolina | 6:f5c26372b2d0 | 370 | //Tool aquiring |
Fairy_Paolina | 6:f5c26372b2d0 | 371 | wait(2); |
Fairy_Paolina | 6:f5c26372b2d0 | 372 | // After tool is aquired |
Fairy_Paolina | 6:f5c26372b2d0 | 373 | |
Fairy_Paolina | 6:f5c26372b2d0 | 374 | alignWithWall(TOOLS); |
Fairy_Paolina | 6:f5c26372b2d0 | 375 | current-=8; |
Fairy_Paolina | 6:f5c26372b2d0 | 376 | wait_ms(100); |
Fairy_Paolina | 6:f5c26372b2d0 | 377 | |
Fairy_Paolina | 6:f5c26372b2d0 | 378 | rangeFinderLeft.startMeas(); |
Fairy_Paolina | 6:f5c26372b2d0 | 379 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 380 | rangeFinderLeft.getMeas(range); |
Fairy_Paolina | 6:f5c26372b2d0 | 381 | |
Fairy_Paolina | 6:f5c26372b2d0 | 382 | if(range < 20){ |
Fairy_Paolina | 6:f5c26372b2d0 | 383 | wall_follow2(LEFT,BACKWARD,TOOLS, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 384 | location[0]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 385 | current= location[0]; |
Fairy_Paolina | 6:f5c26372b2d0 | 386 | |
Fairy_Paolina | 6:f5c26372b2d0 | 387 | /* // go backwards |
Fairy_Paolina | 6:f5c26372b2d0 | 388 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 389 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 390 | motors.setMotor0Speed(-0.3*127); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 391 | motors.setMotor1Speed(-0.3*127); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 392 | while(abs(leftEncoder.getPulses()) < 150 || abs(rightEncoder.getPulses()) < 150); |
Fairy_Paolina | 6:f5c26372b2d0 | 393 | |
Fairy_Paolina | 6:f5c26372b2d0 | 394 | motors.stopBothMotors(); |
Fairy_Paolina | 6:f5c26372b2d0 | 395 | */ |
Fairy_Paolina | 6:f5c26372b2d0 | 396 | |
Fairy_Paolina | 6:f5c26372b2d0 | 397 | leftTurn(); |
Fairy_Paolina | 6:f5c26372b2d0 | 398 | overBump(FAR); |
Fairy_Paolina | 6:f5c26372b2d0 | 399 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 400 | else{ |
Fairy_Paolina | 6:f5c26372b2d0 | 401 | location[0]= 77; |
Fairy_Paolina | 6:f5c26372b2d0 | 402 | leftTurn(); |
Fairy_Paolina | 6:f5c26372b2d0 | 403 | wait_ms(20); |
Fairy_Paolina | 6:f5c26372b2d0 | 404 | overBump(FIRST_WAVE); |
Fairy_Paolina | 6:f5c26372b2d0 | 405 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 406 | |
Fairy_Paolina | 6:f5c26372b2d0 | 407 | bt.printf("wavegap = %f\r\n",location[0]); |
Fairy_Paolina | 6:f5c26372b2d0 | 408 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 409 | |
Fairy_Paolina | 6:f5c26372b2d0 | 410 | void mid_section(float* location, float ¤t, int* direction){ |
Fairy_Paolina | 6:f5c26372b2d0 | 411 | |
Fairy_Paolina | 6:f5c26372b2d0 | 412 | motors.begin(); |
Fairy_Paolina | 6:f5c26372b2d0 | 413 | alignWithWall(MID); |
Fairy_Paolina | 6:f5c26372b2d0 | 414 | /* |
Fairy_Paolina | 5:70ccef3734ae | 415 | leftEncoder.reset(); |
Fairy_Paolina | 5:70ccef3734ae | 416 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 417 | motors.setMotor0Speed(MAX_SPEED); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 418 | motors.setMotor1Speed(MAX_SPEED); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 419 | while(abs(leftEncoder.getPulses())<75 || abs(rightEncoder.getPulses())<75); |
Fairy_Paolina | 6:f5c26372b2d0 | 420 | motors.stopBothMotors(); |
Fairy_Paolina | 6:f5c26372b2d0 | 421 | */ |
Fairy_Paolina | 6:f5c26372b2d0 | 422 | bt.printf("mid section current = %f\r\n",current); |
Fairy_Paolina | 6:f5c26372b2d0 | 423 | wall_follow2(LEFT,FORWARD,MID, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 424 | current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 425 | bt.printf("after wf2 current = %f\r\n",current); |
Fairy_Paolina | 6:f5c26372b2d0 | 426 | |
Fairy_Paolina | 6:f5c26372b2d0 | 427 | if(current != 0){ |
Fairy_Paolina | 6:f5c26372b2d0 | 428 | direction[0]= RIGHT; |
Fairy_Paolina | 6:f5c26372b2d0 | 429 | current+= location[0]; |
Fairy_Paolina | 6:f5c26372b2d0 | 430 | location[1]= current; |
Fairy_Paolina | 6:f5c26372b2d0 | 431 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 432 | else{ |
Fairy_Paolina | 6:f5c26372b2d0 | 433 | current=location[0]; |
Fairy_Paolina | 6:f5c26372b2d0 | 434 | direction[0]= LEFT; |
Fairy_Paolina | 6:f5c26372b2d0 | 435 | wall_follow2(LEFT,BACKWARD,MID,current); |
Fairy_Paolina | 6:f5c26372b2d0 | 436 | location[1]= location[0]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 437 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 438 | |
Fairy_Paolina | 6:f5c26372b2d0 | 439 | bt.printf("wavegap2 = %f\r\n",location[1]); |
Fairy_Paolina | 6:f5c26372b2d0 | 440 | leftTurn(); |
Fairy_Paolina | 6:f5c26372b2d0 | 441 | overBump(FAR); |
Fairy_Paolina | 6:f5c26372b2d0 | 442 | // go forward |
Fairy_Paolina | 6:f5c26372b2d0 | 443 | leftEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 444 | rightEncoder.reset(); |
Fairy_Paolina | 6:f5c26372b2d0 | 445 | motors.setMotor0Speed(0.2*127); //right |
Fairy_Paolina | 6:f5c26372b2d0 | 446 | motors.setMotor1Speed(0.2*127); //left |
Fairy_Paolina | 6:f5c26372b2d0 | 447 | while(abs(leftEncoder.getPulses())<300 || abs(rightEncoder.getPulses())<300); |
Fairy_Paolina | 5:70ccef3734ae | 448 | motors.stopBothMotors(); |
Fairy_Paolina | 5:70ccef3734ae | 449 | |
Fairy_Paolina | 6:f5c26372b2d0 | 450 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 451 | |
Fairy_Paolina | 6:f5c26372b2d0 | 452 | void mid_section2(float* location, float ¤t, int* direction){ |
Fairy_Paolina | 6:f5c26372b2d0 | 453 | |
Fairy_Paolina | 6:f5c26372b2d0 | 454 | motors.begin(); |
Fairy_Paolina | 6:f5c26372b2d0 | 455 | rightTurn(); |
Fairy_Paolina | 6:f5c26372b2d0 | 456 | alignWithWall(MID); |
Fairy_Paolina | 6:f5c26372b2d0 | 457 | wall_follow2(LEFT,FORWARD,MID, current); |
Fairy_Paolina | 6:f5c26372b2d0 | 458 | current=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 5:70ccef3734ae | 459 | |
Fairy_Paolina | 6:f5c26372b2d0 | 460 | if(current != 0){ |
Fairy_Paolina | 6:f5c26372b2d0 | 461 | direction[1]= RIGHT; |
Fairy_Paolina | 6:f5c26372b2d0 | 462 | current+= location[1]; |
Fairy_Paolina | 6:f5c26372b2d0 | 463 | location[2]= current; |
Fairy_Paolina | 6:f5c26372b2d0 | 464 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 465 | else{ |
Fairy_Paolina | 6:f5c26372b2d0 | 466 | current=location[1]; |
Fairy_Paolina | 6:f5c26372b2d0 | 467 | direction[1]= LEFT; |
Fairy_Paolina | 6:f5c26372b2d0 | 468 | wall_follow2(LEFT,BACKWARD,MID,current); |
Fairy_Paolina | 6:f5c26372b2d0 | 469 | location[2]= location[1]- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2); |
Fairy_Paolina | 6:f5c26372b2d0 | 470 | } |
Fairy_Paolina | 5:70ccef3734ae | 471 | |
Fairy_Paolina | 6:f5c26372b2d0 | 472 | leftTurn(); |
Fairy_Paolina | 6:f5c26372b2d0 | 473 | overBump(FAR); |
Fairy_Paolina | 6:f5c26372b2d0 | 474 | } |
Fairy_Paolina | 6:f5c26372b2d0 | 475 | |
Fairy_Paolina | 6:f5c26372b2d0 | 476 | void rig_section(float* location, float ¤t, int* direction, int rig){ |
Fairy_Paolina | 5:70ccef3734ae | 477 | |
Fairy_Paolina | 5:70ccef3734ae | 478 | |
Fairy_Paolina | 6:f5c26372b2d0 | 479 | } |